摘要
介绍了基于AT89C2051微处理器的机器人自定位模块的设计方法。为了解决用到的测程法存在无界累计误差的问题,将光电开关测得的信息与电子罗盘测得的角度信息进行融合,提高了定位的精度。通过硬件和软件的设计及具体实现证明了该方法的可行性和很好的鲁棒性。
A method for robot self-localization model based on AT89C2051 MPU is presented. In order to solve the problem of infinite error brought in by the distance measurement, the information of photoelectric switch and the angle information of the electronic compass are fused, improving the precision. It has been shown by the designation and realization of hardware and software that this way is feasible and quite robust.
出处
《微计算机信息》
2009年第8期238-239,共2页
Control & Automation
基金
项目名称:海底长期观测网络试验节点关键技术(863海洋技术领域)
颁发部门:中华人民共和国科学技术部(2007AA091200)
关键词
定位
电子罗盘
光电开关
信息融合
Localization
Electronic Compass
Photoelectric Switch
Information Fusion
